diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 4150cf5..d2e606c 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -93,6 +93,7 @@ const char* Vehicle::_distanceToHomeFactName =      "distanceToHome";
 const char* Vehicle::_timeToHomeFactName =          "timeToHome";
 const char* Vehicle::_missionItemIndexFactName =    "missionItemIndex";
 const char* Vehicle::_headingToNextWPFactName =     "headingToNextWP";
+const char* Vehicle::_distanceToNextWPFactName =    "distanceToNextWP";
 const char* Vehicle::_headingToHomeFactName =       "headingToHome";
 const char* Vehicle::_distanceToGCSFactName =       "distanceToGCS";
 const char* Vehicle::_hobbsFactName =               "hobbs";
@@ -160,6 +161,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     , _timeToHomeFact               (0, _timeToHomeFactName,        FactMetaData::valueTypeDouble)
     , _missionItemIndexFact         (0, _missionItemIndexFactName,  FactMetaData::valueTypeUint16)
     , _headingToNextWPFact          (0, _headingToNextWPFactName,   FactMetaData::valueTypeDouble)
+    , _distanceToNextWPFact         (0, _distanceToNextWPFactName,  FactMetaData::valueTypeDouble)
     , _headingToHomeFact            (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
     , _distanceToGCSFact            (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact                    (0, _hobbsFactName,             FactMetaData::valueTypeString)
@@ -311,6 +313,7 @@ Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
     , _distanceToHomeFact               (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
     , _missionItemIndexFact             (0, _missionItemIndexFactName,  FactMetaData::valueTypeUint16)
     , _headingToNextWPFact              (0, _headingToNextWPFactName,   FactMetaData::valueTypeDouble)
+    , _distanceToNextWPFact             (0, _distanceToNextWPFactName,  FactMetaData::valueTypeDouble)
     , _headingToHomeFact                (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
     , _distanceToGCSFact                (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
     , _hobbsFact                        (0, _hobbsFactName,             FactMetaData::valueTypeString)
@@ -448,6 +451,7 @@ void Vehicle::_commonInit()
     _addFact(&_timeToHomeFact,          _timeToHomeFactName);
     _addFact(&_missionItemIndexFact,    _missionItemIndexFactName);
     _addFact(&_headingToNextWPFact,     _headingToNextWPFactName);
+    _addFact(&_distanceToNextWPFact,    _distanceToNextWPFactName);
     _addFact(&_headingToHomeFact,       _headingToHomeFactName);
     _addFact(&_distanceToGCSFact,       _distanceToGCSFactName);
     _addFact(&_throttlePctFact,         _throttlePctFactName);
@@ -1045,6 +1049,7 @@ void Vehicle::_handleNavControllerOutput(mavlink_message_t& message)
     _altitudeTuningSetpointFact.setRawValue(_altitudeTuningFact.rawValue().toDouble() - navControllerOutput.alt_error);
     _xTrackErrorFact.setRawValue(navControllerOutput.xtrack_error);
     _airSpeedSetpointFact.setRawValue(_airSpeedFact.rawValue().toDouble() - navControllerOutput.aspd_error);
+    _distanceToNextWPFact.setRawValue(navControllerOutput.wp_dist);
 }
 
 // Ignore warnings from mavlink headers for both GCC/Clang and MSVC
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 2fa0b44..1c0b624 100644
--- a/src/Vehicle/Vehicle.h
+++ b/src/Vehicle/Vehicle.h
@@ -305,6 +305,7 @@ public:
     Q_PROPERTY(Fact* timeToHome         READ timeToHome         CONSTANT)
     Q_PROPERTY(Fact* missionItemIndex   READ missionItemIndex   CONSTANT)
     Q_PROPERTY(Fact* headingToNextWP    READ headingToNextWP    CONSTANT)
+    Q_PROPERTY(Fact* distanceToNextWP   READ distanceToNextWP   CONSTANT)
     Q_PROPERTY(Fact* headingToHome      READ headingToHome      CONSTANT)
     Q_PROPERTY(Fact* distanceToGCS      READ distanceToGCS      CONSTANT)
     Q_PROPERTY(Fact* hobbs              READ hobbs              CONSTANT)
@@ -699,6 +700,7 @@ public:
     Fact* timeToHome                        () { return &_timeToHomeFact; }
     Fact* missionItemIndex                  () { return &_missionItemIndexFact; }
     Fact* headingToNextWP                   () { return &_headingToNextWPFact; }
+    Fact* distanceToNextWP                  () { return &_distanceToNextWPFact; }
     Fact* headingToHome                     () { return &_headingToHomeFact; }
     Fact* distanceToGCS                     () { return &_distanceToGCSFact; }
     Fact* hobbs                             () { return &_hobbsFact; }
@@ -1408,6 +1410,7 @@ private:
     Fact _timeToHomeFact;
     Fact _missionItemIndexFact;
     Fact _headingToNextWPFact;
+    Fact _distanceToNextWPFact;
     Fact _headingToHomeFact;
     Fact _distanceToGCSFact;
     Fact _hobbsFact;
@@ -1468,6 +1471,7 @@ private:
     static const char* _timeToHomeFactName;
     static const char* _missionItemIndexFactName;
     static const char* _headingToNextWPFactName;
+    static const char* _distanceToNextWPFactName;
     static const char* _headingToHomeFactName;
     static const char* _distanceToGCSFactName;
     static const char* _hobbsFactName;
diff --git a/src/Vehicle/VehicleFact.json b/src/Vehicle/VehicleFact.json
index 5336b00..4113694 100644
--- a/src/Vehicle/VehicleFact.json
+++ b/src/Vehicle/VehicleFact.json
@@ -135,6 +135,13 @@
     "units":            "deg"
 },
 {
+    "name":             "distanceToNextWP",
+    "shortDesc": "Next WP distance",
+    "type":             "double",
+    "decimalPlaces":    0,
+    "units":            "m"
+},
+{
     "name":             "flightTime",
     "shortDesc": "Flight Time",
     "type":             "elapsedSeconds",